working-est copy with class-based code. still open loop
Fork of analoghalls6 by
Diff: loopdriver.cpp
- Revision:
- 7:76d6ceb23e0d
- Parent:
- 6:99ee0ce47fb2
--- a/loopdriver.cpp Wed Mar 04 15:33:32 2015 +0000 +++ b/loopdriver.cpp Thu Mar 05 11:02:54 2015 +0000 @@ -30,48 +30,47 @@ _upd_ticker.attach_us(&update, 1000000 / _update_frequency); } -void LoopDriver::Clarke(float c, float b, float *alpha, float *beta) { - *alpha = b; - //*beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b; - *beta = (b + 2.0f * c)/sqrt(3.0f); +void LoopDriver::Clarke(float a, float b, float *alpha, float *beta) { + *alpha = a; + *beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b; } void LoopDriver::Parke(float alpha, float beta, float theta, float *d, float *q) { float cos = LutCos(theta); float sin = LutSin(theta); - *d = alpha * cos - beta * sin; - *q = -alpha * sin - beta * cos; + *d = alpha * cos + beta * sin; + *q = -alpha * sin + beta * cos; } void LoopDriver::InverseParke(float d, float q, float theta, float *alpha, float *beta) { float cos = LutCos(theta); float sin = LutSin(theta); - //*alpha = cos * d - sin * q; - //*beta = -(sin * d + cos * q); - - *alpha = cos * 1.0f; - *beta = -sin * 1.0f; + *alpha = cos * d - sin * q; + *beta = sin * d + cos * q; } float LoopDriver::LutSin(float theta) { if (theta < 0.0f) theta += 360.0f; if (theta >= 360.0f) theta -= 360.0f; - return sinetab[(int) theta] * 2.0f - 1.0f; + return sinetab[(int) theta]; } float LoopDriver::LutCos(float theta) { return LutSin(90.0f - theta); } -void LoopDriver::update() { +void LoopDriver::update() { + _blinky_toggle = !_blinky_toggle; + + _inverter->SetDtcA(LutSin(_motor->angle)); + _inverter->SetDtcB(LutSin(_motor->angle - 120.0f)); + _inverter->SetDtcC(LutSin(_motor->angle + 120.0f)); + float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; - Clarke(_motor->I_c, _motor->I_b, &alpha, &beta); - test_alpha = alpha; - test_beta = beta; + Clarke(_motor->I_a, _motor->I_b, &alpha, &beta); Parke(alpha, beta, _motor->angle, &d, &q); _reference->GetReference(_motor->angle, &ref_d, &ref_q); float vd = _pid_d->Update(ref_d, d); float vq = _pid_q->Update(ref_q, q); InverseParke(vd, vq, _motor->angle, &valpha, &vbeta); - _modulator->Update(valpha, vbeta); }